CN109669467B - Multi-node information fusion wave glider control system with fault-tolerant capability - Google Patents
Multi-node information fusion wave glider control system with fault-tolerant capability Download PDFInfo
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- CN109669467B CN109669467B CN201910139395.6A CN201910139395A CN109669467B CN 109669467 B CN109669467 B CN 109669467B CN 201910139395 A CN201910139395 A CN 201910139395A CN 109669467 B CN109669467 B CN 109669467B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Abstract
The invention discloses a multi-node information fusion wave glider control system with fault-tolerant capability, which mainly comprises a data acquisition system, a navigation communication system, a data fusion control system, a tractor system and an energy management system. The data acquisition system and the data fusion control system CAN communicate in a CAN bus and RS-232 mode; the tractor system and the data fusion control system are communicated in an RS-485 mode; the navigation communication system and the energy management system are communicated with the data fusion control system through RS-232. The energy management system independently controls the power supply of the other four systems and monitors whether the voltage and the current of each system are normal or not in real time; each control system has a water leakage detection function, and the energy management system is used as a water leakage information summarizing system.
Description
Technical Field
The invention relates to a multi-node information fusion wave glider control system with fault-tolerant capability, in particular to the field of wave glider control.
Background
The wave glider is a novel ocean mobile observation platform, utilizes wave energy to convert into forward power, utilizes solar energy to supply power for wave glider control system. The wave glider needs to continuously operate in a severe marine environment for a long time and in a large range, so that the stability requirement on a control system of the wave glider is extremely high.
The main control system of the conventional wave glider mainly adopts a single embedded controller to carry out sensor information interaction, navigation communication, motion control and energy management, and when the embedded controller breaks down, the control system of the whole wave glider is paralyzed, so that the wave glider is lost, and huge economic loss is caused. There is also patent that the redundancy of the control system is realized by adopting a standby computer, but the method only solves the problem that the main controller fails, and if a certain sensor fails, for example, the power supply of the sensor is short-circuited due to water leakage, the main controller and the standby controller can directly fail.
The invention relates to a multi-node information fusion wave glider control system with fault-tolerant capability, which mainly comprises a data acquisition system, a navigation communication system, a data fusion control system, a tractor system and an energy management system. The energy management system is used as an information fusion system for fault detection, and monitors voltage, current and water leakage signals of each system, and each system is independently powered and operates by the energy management system; the data fusion control system is used as an information fusion control system of each system to complete the processing and scheduling of the information of other systems.
Disclosure of Invention
The invention aims to improve the stability and fault-tolerant capability of a wave glider control system. The multi-node information fusion wave glider control system with the fault-tolerant capability can be expanded to other aircrafts similar to the wave glide control principle.
The invention relates to a multi-node information fusion wave glider control system with fault-tolerant capability, which mainly comprises a data acquisition system, a navigation communication system, a data fusion control system, a tractor system and an energy management system. The energy management system is used as an information fusion system for fault detection, and monitors voltage, current and water leakage signals of each system, and each system is independently powered and operates by the energy management system; the data fusion control system is used as an information fusion control system of each system to complete the processing and scheduling of the information of other systems.
The data acquisition system comprises a storage unit, a meteorological station, a CTD (computer to data converter), a wave sensor and an ADCP (advanced data control protocol), has an information backup function, automatically stores acquired sensor information in the storage unit when the data acquisition system detects that the communication with the data fusion control system is interrupted, and sequentially transmits the data after the communication is interrupted to the data fusion control system if the communication is restored.
The tractor system comprises a compass, a propeller and a steering engine, wherein the propeller of the tractor system is in a closed state at ordinary times and can be switched to a propeller propelling mode according to an instruction of the data fusion control system.
The navigation communication system comprises a wireless communicator, a GPS module and an iridium module, and can carry out short-distance communication, remote data uploading and instruction receiving; if the communication interruption with the data fusion control system is detected, the mode is automatically switched to a recovery mode, a fault instruction is sent remotely, the position information is continuously returned, and the recovery is waited.
The energy management system comprises a solar panel, a charge and discharge management module and a battery pack. The energy management system has a water leakage detection processing function, if a water leakage signal of a certain system except the data fusion control system is triggered, the energy management system cuts off the power supply of the system, continuously detects the water leakage information of the system and sends fault information to the data fusion control system; if the data fusion control system is triggered by a water leakage signal, the energy management system cuts off the power supply and enters a recovery mode. The energy management system has a voltage and current monitoring function; if a certain system except the data fusion control system has abnormal voltage and current, the energy management system cuts off the power supply and sends fault information to the data fusion control system; if the voltage and the current of the data fusion control system are abnormal, the energy management system cuts off the power supply and enters a recovery mode.
The data fusion control system comprises a standby iridium module. The data fusion control system is used as a command center to summarize data of each system and process the data; the standby iridium satellite module is embedded and in a power-down mode in a normal working state, when a navigation communication system is detected to have a fault, the standby iridium satellite module is automatically started to remotely send a fault instruction, positioning is carried out by utilizing the GPS information of the iridium satellite module and a weather station, and the standby iridium satellite module enters a recovery mode to wait for recovery.
Drawings
FIG. 1 is a general block diagram of a multi-node information fusion wave glider control system with fault tolerance capability;
fig. 2 is a schematic diagram of the overall power supply and water leakage detection of the control system.
Detailed Description
The invention is described in detail below with reference to the drawings and the detailed description.
As shown in fig. 1, the multi-node information fusion wave glider control system with fault tolerance capability includes a data acquisition system, a navigation communication system, a data fusion control system, a tractor system and an energy management system. The data acquisition system and the data fusion control system are communicated in a CAN/RS-232 mode, so that the communication rate and the compatibility of the data acquisition system and the data fusion control system are improved. Because the tractor system is positioned on the tractor and is far away from the data fusion control system, the tractor system and the data fusion control system are communicated in an RS-485 mode, and the anti-interference capability of communication is improved. The navigation communication system and the energy management system are close to the data fusion control system, so the navigation communication system and the energy management system are communicated with the data fusion control system in an RS-232 mode. The energy management system independently controls the power supply of the other four systems, each control system has a water leakage detection function, and the energy management system is used as a fusion system of water leakage detection information.
The data acquisition system in fig. 1 comprises a storage unit, a weather station, a CTD, a wave sensor and an ADCP, wherein the storage unit is composed of an onboard FLASH memory chip and an SD card, and can realize large-capacity data storage; the meteorological station is arranged on the floating body ship and can acquire wind speed, wind direction, pressure, temperature, humidity, GPS information, acceleration information and the like; the CTD sensor can acquire temperature, salinity and depth information of seawater; the ADCP may collect information such as flow rate. The data acquisition system has an information backup function; when the data acquisition system detects that the communication with the data fusion control system is interrupted, the data acquisition system automatically stores the acquired sensor information in the storage unit, and if the communication is recovered, the data acquisition system sequentially transmits the data after the communication is interrupted to the data fusion control system.
The tractor system in the figure 1 comprises a compass, a propeller and a steering engine, wherein the compass provides current course information of the wave glider, the steering engine acts to swing a rudder plate of the tractor to control a rudder angle of the tractor, the propeller is in a closed state at ordinary times, and a propeller propulsion mode can be switched to according to an instruction of a data fusion control system.
The navigation communication system in fig. 1 includes a wireless communicator, a GPS module, and an iridium module, wherein the wireless communicator is a wireless data transmission station, and the communication distance can reach several kilometers, and the wireless communicator can perform short-distance communication; the GPS module provides position information of the wave glider, and remote communication such as remote data uploading and instruction receiving with a shore-based center can be realized through the iridium module; if the communication interruption with the data fusion control system is detected, the mode is automatically switched to a recovery mode, a fault instruction is sent remotely, the position information is continuously returned, and the recovery is waited.
The energy management system in fig. 1 includes a solar panel, a charge and discharge management module, and a battery pack, wherein the solar panel converts solar energy into electric energy to be stored in the battery pack, and the charge and discharge management module controls charging of the solar panel and power supply of each system, and has functions of water leakage detection processing and current and voltage monitoring. If a certain system except the data fusion control system is triggered by a water leakage signal, the energy management system cuts off the power supply of the system, continuously detects the water leakage information of the system and sends fault information to the data fusion control system; if the data fusion control system is triggered by a water leakage signal, the energy management system cuts off the power supply and enters a recovery mode. If the voltage and the current of a certain system except the data fusion control system are abnormal, the energy management system cuts off the power supply and sends fault information to the data fusion control system; if the voltage and the current of the data fusion control system are abnormal, the energy management system cuts off the power supply and enters a recovery mode.
The data fusion control system in fig. 1 includes a standby iridium module, and the data fusion control system serves as a command center to summarize data of each system and perform data processing. The information such as sensor information transmitted by a processing data acquisition system, information such as running voltage, current and water leakage signals of each system transmitted by an energy management system, course information of a tractor system and the like are transmitted to a navigation control system and transmitted back to a shore-based center through iridium satellite communication; and inputting the position information transmitted by the navigation control system into a tractor system for rudder angle calculation. The data fusion control system is embedded with a standby iridium satellite module, the standby iridium satellite module is in a power-down mode in a normal working state, when a navigation communication system is detected to have a fault, the standby iridium satellite module is automatically started to remotely send a fault instruction, the GPS information of the iridium satellite module and a weather station is utilized to carry out positioning, and the data fusion control system enters a recovery mode to wait for recovery.
Fig. 2 is a schematic diagram illustrating the overall power supply and water leakage detection of the control system, as shown in the figure, the energy management system supplies power to the other systems, and the water leakage detection information of the other four systems is gathered to the energy management system for processing. The energy management system monitors the power supply voltage and current of the four systems respectively, and cuts off the energy supply of one system if the system has abnormal phenomena such as overvoltage, overcurrent and the like; if a system triggers a water leakage signal, the energy management system cuts off the energy supply and monitors in real time.
The following describes, by way of example, the reactions of the respective systems in the event of various faults in the control system.
If the data acquisition system has a fault, the communication with the data fusion control system is interrupted, no water leakage signal is triggered, the voltage and the current are normal, the energy management system normally supplies power to the data acquisition system, the data acquisition system is switched into a self-storage mode, and the data fusion control system sends a fault instruction to inform the shore-based center; if the data acquisition system leaks the signal trigger or voltage, the electric current is unusual, and energy management system cuts off its power supply immediately, sends the trouble instruction, waits for bank based center next step instruction.
If the tractor system fails, the communication with the data fusion control system is interrupted, and the tractor system cannot acquire position information and cannot normally operate, so that the energy management system cuts off the power supply of the tractor system, sends a failure instruction and enters a recovery mode.
If the navigation communication system fails, the communication with the data fusion control system is interrupted, the power supply of the energy management system is cut off, the data fusion control system starts the standby iridium satellite module to send a fault instruction, and meanwhile, the GPS information of the weather station transmitted by the data acquisition system is adopted for positioning to continue working.
If the data fusion control system fails, the data fusion control system is monitored to trigger a water leakage signal or abnormal voltage and current, the energy supply is cut off immediately, at the moment, the communication between the navigation control system and the data fusion system is interrupted, a fault instruction is automatically sent, and the data fusion control system enters a recovery mode.
The multi-node information fusion wave glider control system with the fault-tolerant capability can still normally run when a data acquisition system or a navigation communication system breaks down, under the condition that an energy management system normally works, the control system provided by the invention can allow at most three systems to break down, and as long as one of the data fusion system and the navigation communication system normally works, the wave glider can be communicated with a shore-based center to prevent loss.
The above embodiments are only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore all equivalent technical solutions also belong to the scope of the present invention, and the protection scope of the present invention should be defined by the claims.
Claims (4)
1. The wave glider control system with fault tolerance and multi-node information fusion is characterized by comprising a data acquisition system, a navigation communication system, a data fusion control system, a tractor system and an energy management system; the data acquisition system is communicated with the data fusion control system in a CAN/RS-232 mode, the tractor system is communicated with the data fusion control system in an RS-485 mode, and the navigation communication system and the energy management system are communicated with the data fusion control system in an RS-232 mode; the energy management system independently controls the other four systems to supply power, each control system has a water leakage detection function, and the energy management system is used as a fusion system of water leakage detection information;
the data acquisition system comprises a storage unit, a meteorological station, a CTD, a wave sensor and an ADCP; the tractor system comprises a compass, a propeller and a steering engine; the navigation communication system comprises a wireless communicator, a GPS module and an iridium module; the energy management system comprises a solar panel, a charge and discharge management module and a battery pack; the data fusion control system comprises a standby iridium module; the data acquisition system has an information backup function; when the data acquisition system detects that the communication with the data fusion control system is interrupted, the data acquisition system automatically stores the acquired sensor information in a storage unit, and if the communication is recovered, the data acquisition system sequentially transmits the data after the communication is interrupted to the data fusion control system;
the navigation communication system can carry out short-distance communication, remote data uploading and instruction receiving; if the communication interruption with the data fusion control system is detected, automatically switching to a recovery mode, remotely sending a fault instruction, continuously returning position information, and waiting for recovery;
the data fusion control system is used as a command center to summarize data of each system and process the data; the standby iridium satellite module is embedded and in a power-down mode in a normal working state, when the navigation communication system is detected to have a fault, the standby iridium satellite module is automatically started to remotely send a fault instruction, the standby iridium satellite module and GPS information of a weather station are utilized to carry out positioning, and the standby iridium satellite module enters a recovery mode to wait for recovery.
2. The fault tolerant multi-node message fusion wave glider control system of claim 1 wherein the propeller of the tractor system is normally off and can be switched to propeller propulsion mode upon command of the data fusion control system.
3. The multi-node information fusion wave glider control system with fault tolerance of claim 1, wherein the energy management system has a water leakage detection processing function; if a certain system except the data fusion control system is triggered by a water leakage signal, the energy management system cuts off the power supply of the system, continuously detects the water leakage information of the system and sends fault information to the data fusion control system; if the data fusion control system is triggered by a water leakage signal, the energy management system cuts off the power supply and enters a recovery mode.
4. The fault tolerant multi-node information fusion wave glider control system of claim 1 wherein the energy management system has voltage and current monitoring capability; if a certain system except the data fusion control system has abnormal voltage and current, the energy management system cuts off the power supply and sends fault information to the data fusion control system; if the voltage and the current of the data fusion control system are abnormal, the energy management system cuts off the power supply and enters a recovery mode.
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| CN111555432A (en) * | 2020-06-01 | 2020-08-18 | 青岛海舟科技有限公司 | Low-power-consumption power management system of wave glider |
| CN111591404A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider collision avoidance method |
| CN111591426A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider communication system based on direct current carrier |
| CN114740792B (en) * | 2022-06-13 | 2022-11-18 | 青岛海舟科技有限公司 | Wave glider control system with distributed architecture |
| CN115991271A (en) * | 2023-03-23 | 2023-04-21 | 中国海洋大学 | Wave glider navigation method and system based on propeller propulsion |
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